Robust qLPV Tracking Fault-Tolerant Control of a 3 DOF Mechanical Crane

被引：14

作者：

Lopez-Estrada, Francisco-Ronay ^{[1
]}

Santos-Estudillo, Oscar ^{[1
]}

Valencia-Palomo, Guillermo ^{[2
]}

Gomez-Penate, Samuel ^{[1
]}

Hernandez-Gutierrez, Carlos ^{[1
]}

机构：

[1] Tecnol Nacl Mexico, IT Tuxtla Gutierrez, TURIX Dynam Diag & Control Grp, Carretera Panamer Km 1080, Tuxtla Gutierrez 29050, Chiapas, Mexico

[2] Tecnol Nacl Mexico, IT Hermosillo, Ave Tecnol & Perifer Poniente S-N, Hermosillo 83170, Sonora, Mexico

来源：

MATHEMATICAL AND COMPUTATIONAL APPLICATIONS | 2020年 / 25卷 / 03期

关键词：

3 DOF crane; convex systems; fault-tolerant control; robust control; qLPV systems; Takagi-Sugeno systems; SWAY CONTROL; OVERHEAD CRANE; SLIDING MODE; OBSERVER; SYSTEMS; DESIGN;

D O I：

10.3390/mca25030048

中图分类号：

O1 [数学];

学科分类号：

0701 ; 070101 ;

摘要：

The main aim of this paper is to propose a robust fault-tolerant control for a three degree of freedom (DOF) mechanical crane by using a convex quasi-Linear Parameter Varying (qLPV) approach for modeling the crane and a passive fault-tolerant scheme. The control objective is to minimize the load oscillations while the desired path is tracked. The convex qLPV model is obtained by considering the nonlinear sector approach, which can represent exactly the nonlinear system under the bounded nonlinear terms. To improve the system safety, tolerance to partial actuator faults is considered. Performance requirements of the tracking control system are specified in anH infinity criteria that guarantees robustness against measurement noise, and partial faults. As a result, a set of Linear Matrix Inequalities is derived to compute the controller gains. Numerical experiments on a realistic 3 DOF crane model confirm the applicability of the control scheme.

引用

页数：12

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